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   <div id="projectname">MRSL JPS3D Library
   &#160;<span id="projectnumber">1.1</span>
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   <div id="projectbrief">An implementaion of Jump Point Search on 3D voxel map</div>
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<li class="navelem"><b>DMP</b></li><li class="navelem"><a class="el" href="classDMP_1_1GraphSearch.html">GraphSearch</a></li>  </ul>
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  <div class="summary">
<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pri-methods">Private Member Functions</a> &#124;
<a href="#pri-attribs">Private Attributes</a> &#124;
<a href="classDMP_1_1GraphSearch-members.html">List of all members</a>  </div>
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<div class="title">DMP::GraphSearch Class Reference</div>  </div>
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<p><a class="el" href="classDMP_1_1GraphSearch.html" title="GraphSearch class. ">GraphSearch</a> class.  
 <a href="classDMP_1_1GraphSearch.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="distance__map__planner_2graph__search_8h_source.html">graph_search.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a027210721b9b2cc0ba96237e90bcd0a4"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDMP_1_1GraphSearch.html#a027210721b9b2cc0ba96237e90bcd0a4">GraphSearch</a> (const int8_t *cMap, int xDim, int yDim, double eps=1, double cweight=0.1, bool verbose=false)</td></tr>
<tr class="memdesc:a027210721b9b2cc0ba96237e90bcd0a4"><td class="mdescLeft">&#160;</td><td class="mdescRight">2D graph search constructor  <a href="#a027210721b9b2cc0ba96237e90bcd0a4">More...</a><br /></td></tr>
<tr class="separator:a027210721b9b2cc0ba96237e90bcd0a4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a74c6886af1e708f4afedf10ca2fd7cd8"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDMP_1_1GraphSearch.html#a74c6886af1e708f4afedf10ca2fd7cd8">GraphSearch</a> (const int8_t *cMap, int xDim, int yDim, int zDim, double eps=1, double cweight=0.1, bool verbose=false)</td></tr>
<tr class="memdesc:a74c6886af1e708f4afedf10ca2fd7cd8"><td class="mdescLeft">&#160;</td><td class="mdescRight">3D graph search constructor  <a href="#a74c6886af1e708f4afedf10ca2fd7cd8">More...</a><br /></td></tr>
<tr class="separator:a74c6886af1e708f4afedf10ca2fd7cd8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afa5514931d941b9d9bbe23545d10b783"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDMP_1_1GraphSearch.html#afa5514931d941b9d9bbe23545d10b783">plan</a> (int xStart, int yStart, int xGoal, int yGoal, std::vector&lt; bool &gt; in_region=std::vector&lt; bool &gt;())</td></tr>
<tr class="memdesc:afa5514931d941b9d9bbe23545d10b783"><td class="mdescLeft">&#160;</td><td class="mdescRight">start 2D planning thread  <a href="#afa5514931d941b9d9bbe23545d10b783">More...</a><br /></td></tr>
<tr class="separator:afa5514931d941b9d9bbe23545d10b783"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1477ecd2433a2669d24143be75324df5"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDMP_1_1GraphSearch.html#a1477ecd2433a2669d24143be75324df5">plan</a> (int xStart, int yStart, int zStart, int xGoal, int yGoal, int zGoal, std::vector&lt; bool &gt; in_region=std::vector&lt; bool &gt;())</td></tr>
<tr class="memdesc:a1477ecd2433a2669d24143be75324df5"><td class="mdescLeft">&#160;</td><td class="mdescRight">start 3D planning thread  <a href="#a1477ecd2433a2669d24143be75324df5">More...</a><br /></td></tr>
<tr class="separator:a1477ecd2433a2669d24143be75324df5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abc943331e019c3c718cd80f4c4064753"><td class="memItemLeft" align="right" valign="top"><a id="abc943331e019c3c718cd80f4c4064753"></a>
std::vector&lt; StatePtr &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDMP_1_1GraphSearch.html#abc943331e019c3c718cd80f4c4064753">getPath</a> () const</td></tr>
<tr class="memdesc:abc943331e019c3c718cd80f4c4064753"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the optimal path. <br /></td></tr>
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<tr class="memitem:ab4e40596f80a9ceaba5f2c1a6f033ea7"><td class="memItemLeft" align="right" valign="top"><a id="ab4e40596f80a9ceaba5f2c1a6f033ea7"></a>
std::vector&lt; StatePtr &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDMP_1_1GraphSearch.html#ab4e40596f80a9ceaba5f2c1a6f033ea7">getOpenSet</a> () const</td></tr>
<tr class="memdesc:ab4e40596f80a9ceaba5f2c1a6f033ea7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the states in open set. <br /></td></tr>
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<tr class="memitem:ae172f4fd2aff4d2fdca7b9abfb1006bf"><td class="memItemLeft" align="right" valign="top"><a id="ae172f4fd2aff4d2fdca7b9abfb1006bf"></a>
std::vector&lt; StatePtr &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDMP_1_1GraphSearch.html#ae172f4fd2aff4d2fdca7b9abfb1006bf">getCloseSet</a> () const</td></tr>
<tr class="memdesc:ae172f4fd2aff4d2fdca7b9abfb1006bf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the states in close set. <br /></td></tr>
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<tr class="memitem:a81f8c0a2d42ab5af6158e37a0948fc75"><td class="memItemLeft" align="right" valign="top"><a id="a81f8c0a2d42ab5af6158e37a0948fc75"></a>
std::vector&lt; StatePtr &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDMP_1_1GraphSearch.html#a81f8c0a2d42ab5af6158e37a0948fc75">getAllSet</a> () const</td></tr>
<tr class="memdesc:a81f8c0a2d42ab5af6158e37a0948fc75"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the states in hash map. <br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-methods"></a>
Private Member Functions</h2></td></tr>
<tr class="memitem:a7851805b7a246ea3c3c59c57e86aff9e"><td class="memItemLeft" align="right" valign="top"><a id="a7851805b7a246ea3c3c59c57e86aff9e"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDMP_1_1GraphSearch.html#a7851805b7a246ea3c3c59c57e86aff9e">plan</a> (StatePtr &amp;currNode_ptr, int start_id, int goal_id)</td></tr>
<tr class="memdesc:a7851805b7a246ea3c3c59c57e86aff9e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Main planning loop. <br /></td></tr>
<tr class="separator:a7851805b7a246ea3c3c59c57e86aff9e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af7980f365beb43cd2f7a4bba363117c7"><td class="memItemLeft" align="right" valign="top"><a id="af7980f365beb43cd2f7a4bba363117c7"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDMP_1_1GraphSearch.html#af7980f365beb43cd2f7a4bba363117c7">getSucc</a> (const StatePtr &amp;curr, std::vector&lt; int &gt; &amp;succ_ids, std::vector&lt; double &gt; &amp;succ_costs)</td></tr>
<tr class="memdesc:af7980f365beb43cd2f7a4bba363117c7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get successor function for A*. <br /></td></tr>
<tr class="separator:af7980f365beb43cd2f7a4bba363117c7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a432cf1e1c8f0b43646b15748ee5a5d56"><td class="memItemLeft" align="right" valign="top"><a id="a432cf1e1c8f0b43646b15748ee5a5d56"></a>
std::vector&lt; StatePtr &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDMP_1_1GraphSearch.html#a432cf1e1c8f0b43646b15748ee5a5d56">recoverPath</a> (StatePtr node, int id)</td></tr>
<tr class="memdesc:a432cf1e1c8f0b43646b15748ee5a5d56"><td class="mdescLeft">&#160;</td><td class="mdescRight">Recover the optimal path. <br /></td></tr>
<tr class="separator:a432cf1e1c8f0b43646b15748ee5a5d56"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a28a092e66b86baf85f225496bb68fb6f"><td class="memItemLeft" align="right" valign="top"><a id="a28a092e66b86baf85f225496bb68fb6f"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDMP_1_1GraphSearch.html#a28a092e66b86baf85f225496bb68fb6f">coordToId</a> (int x, int y) const</td></tr>
<tr class="memdesc:a28a092e66b86baf85f225496bb68fb6f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get subscript. <br /></td></tr>
<tr class="separator:a28a092e66b86baf85f225496bb68fb6f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9e467980bbaee19f3001852e2da8001e"><td class="memItemLeft" align="right" valign="top"><a id="a9e467980bbaee19f3001852e2da8001e"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDMP_1_1GraphSearch.html#a9e467980bbaee19f3001852e2da8001e">coordToId</a> (int x, int y, int z) const</td></tr>
<tr class="memdesc:a9e467980bbaee19f3001852e2da8001e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get subscript. <br /></td></tr>
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<tr class="memitem:a3442f3918356356034c4c583bfff3975"><td class="memItemLeft" align="right" valign="top"><a id="a3442f3918356356034c4c583bfff3975"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDMP_1_1GraphSearch.html#a3442f3918356356034c4c583bfff3975">isFree</a> (int x, int y) const</td></tr>
<tr class="memdesc:a3442f3918356356034c4c583bfff3975"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if (x, y) is free. <br /></td></tr>
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<tr class="memitem:af8288f4b6acca97c9bf39dadc5236c78"><td class="memItemLeft" align="right" valign="top"><a id="af8288f4b6acca97c9bf39dadc5236c78"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDMP_1_1GraphSearch.html#af8288f4b6acca97c9bf39dadc5236c78">isFree</a> (int x, int y, int z) const</td></tr>
<tr class="memdesc:af8288f4b6acca97c9bf39dadc5236c78"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if (x, y, z) is free. <br /></td></tr>
<tr class="separator:af8288f4b6acca97c9bf39dadc5236c78"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a240f13b1fe8d6f7c50aca2280ef775cf"><td class="memItemLeft" align="right" valign="top"><a id="a240f13b1fe8d6f7c50aca2280ef775cf"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDMP_1_1GraphSearch.html#a240f13b1fe8d6f7c50aca2280ef775cf">getHeur</a> (int x, int y) const</td></tr>
<tr class="memdesc:a240f13b1fe8d6f7c50aca2280ef775cf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clculate heuristic. <br /></td></tr>
<tr class="separator:a240f13b1fe8d6f7c50aca2280ef775cf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a248721940247bc6f98f3032641103e6f"><td class="memItemLeft" align="right" valign="top"><a id="a248721940247bc6f98f3032641103e6f"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDMP_1_1GraphSearch.html#a248721940247bc6f98f3032641103e6f">getHeur</a> (int x, int y, int z) const</td></tr>
<tr class="memdesc:a248721940247bc6f98f3032641103e6f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clculate heuristic. <br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
Private Attributes</h2></td></tr>
<tr class="memitem:a074ddb703f68bc2dbf7095390644ebaf"><td class="memItemLeft" align="right" valign="top"><a id="a074ddb703f68bc2dbf7095390644ebaf"></a>
const int8_t *&#160;</td><td class="memItemRight" valign="bottom"><b>cMap_</b></td></tr>
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<tr class="memitem:a874d7b6e799de6bd0010c918db39395a"><td class="memItemLeft" align="right" valign="top"><a id="a874d7b6e799de6bd0010c918db39395a"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>xDim_</b></td></tr>
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<tr class="memitem:af79d24f9a26c3cf57eb22f84f641eaad"><td class="memItemLeft" align="right" valign="top"><a id="af79d24f9a26c3cf57eb22f84f641eaad"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>yDim_</b></td></tr>
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<tr class="memitem:a1ab77450eeb0577ce984212185e0ea3b"><td class="memItemLeft" align="right" valign="top"><a id="a1ab77450eeb0577ce984212185e0ea3b"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>zDim_</b></td></tr>
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<tr class="memitem:ae0368a2e01d21a848225556ed2a36961"><td class="memItemLeft" align="right" valign="top"><a id="ae0368a2e01d21a848225556ed2a36961"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDMP_1_1GraphSearch.html#ae0368a2e01d21a848225556ed2a36961">eps_</a></td></tr>
<tr class="memdesc:ae0368a2e01d21a848225556ed2a36961"><td class="mdescLeft">&#160;</td><td class="mdescRight">weight of heuristic <br /></td></tr>
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<tr class="memitem:a3d0bb6df54bec79212e12052a9d078a4"><td class="memItemLeft" align="right" valign="top"><a id="a3d0bb6df54bec79212e12052a9d078a4"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDMP_1_1GraphSearch.html#a3d0bb6df54bec79212e12052a9d078a4">cweight_</a></td></tr>
<tr class="memdesc:a3d0bb6df54bec79212e12052a9d078a4"><td class="mdescLeft">&#160;</td><td class="mdescRight">weight of distance map <br /></td></tr>
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<tr class="memitem:a3b7a9210a217a072cf7069e8c6972c85"><td class="memItemLeft" align="right" valign="top"><a id="a3b7a9210a217a072cf7069e8c6972c85"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>verbose_</b></td></tr>
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const int8_t&#160;</td><td class="memItemRight" valign="bottom"><b>val_free_</b> = 0</td></tr>
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const int8_t&#160;</td><td class="memItemRight" valign="bottom"><b>val_occ_</b> = 100</td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>xGoal_</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>yGoal_</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>zGoal_</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>use_2d_</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>global_</b></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p><a class="el" href="classDMP_1_1GraphSearch.html" title="GraphSearch class. ">GraphSearch</a> class. </p>
<p>Implement A* and Jump Point Search </p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="a027210721b9b2cc0ba96237e90bcd0a4"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a027210721b9b2cc0ba96237e90bcd0a4">&#9670;&nbsp;</a></span>GraphSearch() <span class="overload">[1/2]</span></h2>

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        <tr>
          <td class="memname">GraphSearch::GraphSearch </td>
          <td>(</td>
          <td class="paramtype">const int8_t *&#160;</td>
          <td class="paramname"><em>cMap</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>xDim</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>yDim</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>eps</em> = <code>1</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>cweight</em> = <code>0.1</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>verbose</em> = <code>false</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>2D graph search constructor </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">cMap</td><td>1D array stores the occupancy, with the order equal to <img class="formulaInl" alt="$x + xDim * y$" src="form_0.png"/> </td></tr>
    <tr><td class="paramname">xDim</td><td>map length </td></tr>
    <tr><td class="paramname">yDim</td><td>map width </td></tr>
    <tr><td class="paramname">eps</td><td>weight of heuristic, optional, default as 1 </td></tr>
    <tr><td class="paramname">cweight</td><td>weight of distance cost, optional, default as 0.1 </td></tr>
    <tr><td class="paramname">verbose</td><td>flag for printing debug info, optional, default as false </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a74c6886af1e708f4afedf10ca2fd7cd8"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a74c6886af1e708f4afedf10ca2fd7cd8">&#9670;&nbsp;</a></span>GraphSearch() <span class="overload">[2/2]</span></h2>

<div class="memitem">
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      <table class="memname">
        <tr>
          <td class="memname">GraphSearch::GraphSearch </td>
          <td>(</td>
          <td class="paramtype">const int8_t *&#160;</td>
          <td class="paramname"><em>cMap</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>xDim</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>yDim</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>zDim</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>eps</em> = <code>1</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>cweight</em> = <code>0.1</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>verbose</em> = <code>false</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>3D graph search constructor </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">cMap</td><td>1D array stores the occupancy, with the order equal to <img class="formulaInl" alt="$x + xDim * y + xDim * yDim * z$" src="form_1.png"/> </td></tr>
    <tr><td class="paramname">xDim</td><td>map length </td></tr>
    <tr><td class="paramname">yDim</td><td>map width </td></tr>
    <tr><td class="paramname">zDim</td><td>map height </td></tr>
    <tr><td class="paramname">eps</td><td>weight of heuristic, optional, default as 1 </td></tr>
    <tr><td class="paramname">cweight</td><td>weight of distance cost, optional, default as 0.1 </td></tr>
    <tr><td class="paramname">verbose</td><td>flag for printing debug info, optional, default as False </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
<a id="afa5514931d941b9d9bbe23545d10b783"></a>
<h2 class="memtitle"><span class="permalink"><a href="#afa5514931d941b9d9bbe23545d10b783">&#9670;&nbsp;</a></span>plan() <span class="overload">[1/2]</span></h2>

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          <td class="memname">double GraphSearch::plan </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>xStart</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>yStart</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>xGoal</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>yGoal</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; bool &gt;&#160;</td>
          <td class="paramname"><em>in_region</em> = <code>std::vector&lt;bool&gt;()</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>start 2D planning thread </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">xStart</td><td>start x coordinate </td></tr>
    <tr><td class="paramname">yStart</td><td>start y coordinate </td></tr>
    <tr><td class="paramname">xGoal</td><td>goal x coordinate </td></tr>
    <tr><td class="paramname">yGoal</td><td>goal y coordinate </td></tr>
    <tr><td class="paramname">in_region</td><td>a region that is valid for searching, empty means no boundary</td></tr>
  </table>
  </dd>
</dl>
<p>return the total path cost, which is infinity if failed </p>

</div>
</div>
<a id="a1477ecd2433a2669d24143be75324df5"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a1477ecd2433a2669d24143be75324df5">&#9670;&nbsp;</a></span>plan() <span class="overload">[2/2]</span></h2>

<div class="memitem">
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      <table class="memname">
        <tr>
          <td class="memname">double GraphSearch::plan </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>xStart</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>yStart</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>zStart</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>xGoal</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>yGoal</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>zGoal</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; bool &gt;&#160;</td>
          <td class="paramname"><em>in_region</em> = <code>std::vector&lt;bool&gt;()</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>start 3D planning thread </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">xStart</td><td>start x coordinate </td></tr>
    <tr><td class="paramname">yStart</td><td>start y coordinate </td></tr>
    <tr><td class="paramname">zStart</td><td>start z coordinate </td></tr>
    <tr><td class="paramname">xGoal</td><td>goal x coordinate </td></tr>
    <tr><td class="paramname">yGoal</td><td>goal y coordinate </td></tr>
    <tr><td class="paramname">zGoal</td><td>goal z coordinate </td></tr>
    <tr><td class="paramname">in_region</td><td>a region that is valid for searching, empty means no boundary</td></tr>
  </table>
  </dd>
</dl>
<p>return the total path cost, which is infinity if failed </p>

</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li>include/jps_planner/distance_map_planner/<a class="el" href="distance__map__planner_2graph__search_8h_source.html">graph_search.h</a></li>
<li>src/distance_map_planner/graph_search.cpp</li>
</ul>
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